OpenRaiser/Intern-Atlas huggingface dataset:
Boosting LiDAR-Based Localization with Semantic Insight: Camera Projection versus Direct LiDAR Segmentation
Venue: arXiv cs.RO 2025
Year: 2025

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness of LiDAR-based localization techniques for autonomous mobile systems. We propose an approach that integrates semantic camera data with LiDAR segmentation to address this challenge. By projecting LiDAR points into the semantic segmentation space of the camera, our method enhances the precision and reliability of the LiDAR-based localization pipeline. For validation, we utilize the CoCar NextGen platform from the FZI Research Center for Information Technology, which offers diverse sensor modalities and configurations. The sensor setup of CoCar NextGen enables a thorough analysis of different sensor types. Our evaluation leverages the state-of-the-art Depth-Anything network for camera image segmentation and an adaptive segmentation network for LiDAR segmentation. To establish a reliable ground truth for LiDAR-based localization, we make us of a Global Navigation Satellite System (GNSS) solution with Real-Time Kinematic corrections (RTK). Additionally, we conduct an extensive 55 km drive through the city of Karlsruhe, Germany, covering a variety of environments, including urban areas, multi-lane roads, and rural highways. This multimodal approach paves the way for more reliable and precise autonomous navigation systems, particularly in complex real-world environments.
PromptDebt: A Comprehensive Study of Technical Debt Across LLM Projects
Venue: arXiv cs.SE 2025
Year: 2025

Large Language Models (LLMs) are increasingly embedded in software via APIs like OpenAI, offering powerful AI features without heavy infrastructure. Yet these integrations bring their own form of self-admitted technical debt (SATD). In this paper, we present the first large-scale empirical study of LLM-specific SATD: its origins, prevalence, and mitigation strategies. By analyzing 93,142 Python files across major LLM APIs, we found that 54.49% of SATD instances stem from OpenAI integrations and 12.35% from LangChain use. Prompt design emerged as the primary source of LLM-specific SATD, with 6.61% of debt related to prompt configuration and optimization issues, followed by hyperparameter tuning and LLM-framework integration. We further explored which prompt techniques attract the most debt, revealing that instruction-based prompts (38.60%) and few-shot prompts (18.13%) are particularly vulnerable due to their dependence on instruction clarity and example quality. Finally, we release a comprehensive SATD dataset to support reproducibility and offer practical guidance for managing technical debt in LLM-powered systems.
Action-Informed Estimation and Planning: Clearing Clutter on Staircases via Quadrupedal Pedipulation
Venue: arXiv cs.RO 2025
Year: 2025

For robots to operate autonomously in densely cluttered environments, they must reason about and potentially physically interact with obstacles to clear a path. Safely clearing a path on challenging terrain, such as a cluttered staircase, requires controlled interaction. For example, a quadrupedal robot that pushes objects out of the way with one leg while maintaining a stable stance with its three other legs. However, tightly coupled physical actions, such as one-legged pushing, create new constraints on the system that can be difficult to predict at design time. In this work, we present a new method that addresses one such constraint, wherein the object being pushed by a quadrupedal robot with one of its legs becomes occluded from the robot's sensors during manipulation. To address this challenge, we present a tightly coupled perception-action framework that enables the robot to perceive clutter, reason about feasible push paths, and execute the clearing maneuver. Our core contribution is an interaction-aware state estimation loop that uses proprioceptive feedback regarding foot contact and leg position to predict an object's displacement during the occlusion. This prediction guides the perception system to robustly re-detect the object after the interaction, closing the loop between action and sensing to enable accurate tracking even after partial pushes. Using this feedback allows the robot to learn from physical outcomes, reclassifying an object as immovable if a push fails due to it being too heavy. We present results of implementing our approach on a Boston Dynamics Spot robot that show our interaction-aware approach achieves higher task success rates and tracking accuracy in pushing objects on stairs compared to open-loop baselines.
Adaptive Approach to Enhance Machine Learning Scheduling Algorithms During Runtime Using Reinforcement Learning in Metascheduling Applications
Venue: arXiv cs.AI 2025
Year: 2025

Metascheduling in time-triggered architectures has been crucial in adapting to dynamic and unpredictable environments, ensuring the reliability and efficiency of task execution. However, traditional approaches face significant challenges when training Artificial Intelligence (AI) scheduling inferences offline, particularly due to the complexities involved in constructing a comprehensive Multi-Schedule Graph (MSG) that accounts for all possible scenarios. The process of generating an MSG that captures the vast probability space, especially when considering context events like hardware failures, slack variations, or mode changes, is resource-intensive and often infeasible. To address these challenges, we propose an adaptive online learning unit integrated within the metascheduler to enhance performance in real-time. The primary motivation for developing this unit stems from the limitations of offline training, where the MSG created is inherently a subset of the complete space, focusing only on the most probable and critical context events. In the online mode, Reinforcement Learning (RL) plays a pivotal role by continuously exploring and discovering new scheduling solutions, thus expanding the MSG and enhancing system performance over time. This dynamic adaptation allows the system to handle unexpected events and complex scheduling scenarios more effectively. Several RL models were implemented within the online learning unit, each designed to address specific challenges in scheduling. These models not only facilitate the discovery of new solutions but also optimize existing schedulers, particularly when stricter deadlines or new performance criteria are introduced. By continuously refining the AI inferences through real-time training, the system remains flexible and capable of meeting evolving demands, thus ensuring robustness and efficiency in large-scale, safety-critical environments.
A Hierarchical Adaptive Diffusion Model for Flexible Protein-Protein Docking
Venue: arXiv cs.CE 2025
Year: 2025

Structural prediction of protein-protein interactions is important to understand the molecular basis of cellular interactions, but it still faces major challenges when significant conformational changes are present. We propose a generative framework of hierarchical adaptive diffusion to improve accuracy and efficiency in such cases. It is hierarchical in separating global inter-protein rigid-body motions and local intra-protein flexibility in diffusion processes, and the distinct local and global noise schedules are designed to mimic the induced-fit effect. It is adaptive in conditioning the local flexibility schedule on predicted levels of conformational change, allowing faster flexing for larger anticipated conformational changes. Furthermore, it couples the local and global diffusion processes through a common score and confidence network with sequence, evolution, structure, and dynamics features as inputs, and maintains rotational or translational invariance or equivariance in outputs. It builds on our newly curated DIPS-AF dataset of nearly 39,000 examples for pre-training. Experiments on the independent docking benchmark dataset DB5.5 show that our model outperforms an AlphaFold2-like iterative transformer (GeoDock) and a diffusion model (DiffDock-PP) in both rigid and flexible cases, with larger improvements in more flexible cases. Ablation studies prove the importance of adaptive schedules, dynamics features, and pre-training. Additional analyses and case studies reveal remaining gaps in sampling, scoring, and conformational resolution.
Dynamic Reasoning Chains through Depth-Specialized Mixture-of-Experts in Transformer Architectures
Venue: arXiv cs.CL 2025
Year: 2025

Contemporary transformer architectures apply identical processing depth to all inputs, creating inefficiencies and limiting reasoning quality. Simple factual queries are subjected to the same multilayered computation as complex logical problems, wasting resources while constraining deep inference. To overcome this, we came up with a concept of Dynamic Reasoning Chains through Depth Specialised Mixture of Experts (DS-MoE), a modular framework that extends the Mixture of Experts paradigm from width-based to depth specialised computation. DS-MoE introduces expert modules optimised for distinct reasoning depths, shallow pattern recognition, compositional reasoning, logical inference, memory integration, and meta-cognitive supervision. A learned routing network dynamically assembles custom reasoning chains, activating only the necessary experts to match input complexity. The dataset on which we trained and evaluated DS-MoE is on The Pile, an 800GB corpus covering diverse domains such as scientific papers, legal texts, programming code, and web content, enabling systematic assessment across reasoning depths. Experimental results demonstrate that DS-MoE achieves up to 16 per cent computational savings and 35 per cent faster inference compared to uniform-depth transformers, while delivering 2.8 per cent higher accuracy on complex multi-step reasoning benchmarks. Furthermore, routing decisions yield interpretable reasoning chains, enhancing transparency and scalability. These findings establish DS-MoE as a significant advancement in adaptive neural architectures, demonstrating that depth-specialised modular processing can simultaneously improve efficiency, reasoning quality, and interpretability in large-scale language models.
Every Character Counts: From Vulnerability to Defense in Phishing Detection
Venue: arXiv cs.CR 2025
Year: 2025

Phishing attacks targeting both organizations and individuals are becoming an increasingly significant threat as technology advances. Current automatic detection methods often lack explainability and robustness in detecting new phishing attacks. In this work, we investigate the effectiveness of character-level deep learning models for phishing detection, which can provide both robustness and interpretability. We evaluate three neural architectures adapted to operate at the character level, namely CharCNN, CharGRU, and CharBiLSTM, on a custom-built email dataset, which combines data from multiple sources. Their performance is analyzed under three scenarios: (i) standard training and testing, (ii) standard training and testing under adversarial attacks, and (iii) training and testing with adversarial examples. Aiming to develop a tool that operates as a browser extension, we test all models under limited computational resources. In this constrained setup, CharGRU proves to be the best-performing model across all scenarios. All models show vulnerability to adversarial attacks, but adversarial training substantially improves their robustness. In addition, by adapting the Gradient-weighted Class Activation Mapping (Grad-CAM) technique to character-level inputs, we are able to visualize which parts of each email influence the decision of each model. Our open-source code and data is released at https://github.com/chipermaria/every-character-counts.
Beyond SSO: Mobile Money Authentication for Inclusive e-Government in Sub-Saharan Africa
Venue: arXiv cs.CR 2025
Year: 2025

The rapid adoption of Mobile Money Services (MMS) in Sub-Saharan Africa (SSA) offers a viable path to improve e-Government service accessibility in the face of persistent low internet penetration. However, existing Mobile Money Authentication (MMA) methods face critical limitations, including susceptibility to SIM swapping, weak session protection, and poor scalability during peak demand. This study introduces a hybrid MMA framework that combines Unstructured Supplementary Service Data (USSD)-based multi-factor authentication with secure session management via cryptographically bound JSON Web Tokens (JWT). Unlike traditional MMA systems that rely solely on SIM-PIN verification or smartphone-dependent biometrics, our design implements a three-factor authentication model; SIM verification, PIN entry, and session token binding, tailored for resource-constrained environments. Simulations and comparative analysis against OAuth-based Single Sign-On (SSO) methods reveal a 45% faster authentication time (8 seconds vs. 12 to 15 seconds), 15% higher success under poor network conditions (95% vs. 80%), and increased resistance to phishing and brute-force attacks. Penetration testing and threat modeling further demonstrate a substantial reduction in vulnerability exposure compared to conventional approaches. The primary contributions of this work are: (1) a hybrid authentication protocol that ensures offline accessibility and secure session continuity; (2) a tailored security framework addressing threats like SIM swapping and social engineering in SSA; and (3) demonstrated scalability for thousands of users with reduced infrastructure overhead. The proposed approach advances secure digital inclusion in SSA and other regions with similar constraints.
DELM: a Python toolkit for Data Extraction with Language Models
Venue: arXiv cs.IR 2025
Year: 2025

Large Language Models (LLMs) have become powerful tools for annotating unstructured data. However, most existing workflows rely on ad hoc scripts, making reproducibility, robustness, and systematic evaluation difficult. To address these challenges, we introduce DELM (Data Extraction with Language Models), an open-source Python toolkit designed for rapid experimental iteration of LLM-based data extraction pipelines and for quantifying the trade-offs between them. DELM minimizes boilerplate code and offers a modular framework with structured outputs, built-in validation, flexible data-loading and scoring strategies, and efficient batch processing. It also includes robust support for working with LLM APIs, featuring retry logic, result caching, detailed cost tracking, and comprehensive configuration management. We showcase DELM's capabilities through two case studies: one featuring a novel prompt optimization algorithm, and another illustrating how DELM quantifies trade-offs between cost and coverage when selecting keywords to decide which paragraphs to pass to an LLM. DELM is available at \href{https://github.com/Center-for-Applied-AI/delm}{\texttt{github.com/Center-for-Applied-AI/delm}}.
Personalized Federated Dictionary Learning for Modeling Heterogeneity in Multi-site fMRI Data
Venue: arXiv cs.LG 2025
Year: 2025

Data privacy constraints pose significant challenges for large-scale neuroimaging analysis, especially in multi-site functional magnetic resonance imaging (fMRI) studies, where site-specific heterogeneity leads to non-independent and identically distributed (non-IID) data. These factors hinder the development of generalizable models. To address these challenges, we propose Personalized Federated Dictionary Learning (PFedDL), a novel federated learning framework that enables collaborative modeling across sites without sharing raw data. PFedDL performs independent dictionary learning at each site, decomposing each site-specific dictionary into a shared global component and a personalized local component. The global atoms are updated via federated aggregation to promote cross-site consistency, while the local atoms are refined independently to capture site-specific variability, thereby enhancing downstream analysis. Experiments on the ABIDE dataset demonstrate that PFedDL outperforms existing methods in accuracy and robustness across non-IID datasets.
Cyber Racing Coach: A Haptic Shared Control Framework for Teaching Advanced Driving Skills
Venue: arXiv cs.RO 2025
Year: 2025

This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system to control the steering of a vehicle simultaneously. Advanced driving skills are those necessary to safely push the vehicle to its handling limits in high-performance driving such as racing and emergency obstacle avoidance. Previous research has demonstrated the performance and safety benefits of shared control schemes using both subjective and objective evaluations. However, these schemes have not been assessed for their impact on skill acquisition on complex and demanding tasks. Prior research on long-term skill acquisition either applies haptic shared control to simple tasks or employs other feedback methods like visual and auditory aids. To bridge this gap, this study creates a cyber racing coach framework based on the haptic shared control paradigm and evaluates its performance in helping human drivers acquire high-performance driving skills. The framework introduces (1) an autonomous driving system that is capable of cooperating with humans in a highly performant driving scenario; and (2) a haptic shared control mechanism along with a fading scheme to gradually reduce the steering assistance from autonomy based on the human driver's performance during training. Two benchmarks are considered: self-learning (no assistance) and full assistance during training. Results from a human subject study indicate that the proposed framework helps human drivers develop superior racing skills compared to the benchmarks, resulting in better performance and consistency.
EEG-Driven AR-Robot System for Zero-Touch Grasping Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Reliable brain-computer interface (BCI) control of robots provides an intuitive and accessible means of human-robot interaction, particularly valuable for individuals with motor impairments. However, existing BCI-Robot systems face major limitations: electroencephalography (EEG) signals are noisy and unstable, target selection is often predefined and inflexible, and most studies remain restricted to simulation without closed-loop validation. These issues hinder real-world deployment in assistive scenarios. To address them, we propose a closed-loop BCI-AR-Robot system that integrates motor imagery (MI)-based EEG decoding, augmented reality (AR) neurofeedback, and robotic grasping for zero-touch operation. A 14-channel EEG headset enabled individualized MI calibration, a smartphone-based AR interface supported multi-target navigation with direction-congruent feedback to enhance stability, and the robotic arm combined decision outputs with vision-based pose estimation for autonomous grasping. Experiments are conducted to validate the framework: MI training achieved 93.1 percent accuracy with an average information transfer rate (ITR) of 14.8 bit/min; AR neurofeedback significantly improved sustained control (SCI = 0.210) and achieved the highest ITR (21.3 bit/min) compared with static, sham, and no-AR baselines; and closed-loop grasping achieved a 97.2 percent success rate with good efficiency and strong user-reported control. These results show that AR feedback substantially stabilizes EEG-based control and that the proposed framework enables robust zero-touch grasping, advancing assistive robotic applications and future modes of human-robot interaction.
Guiding Application Users via Estimation of Computational Resources for Massively Parallel Chemistry Computations
Venue: arXiv cs.LG 2025
Year: 2025

In this work, we develop machine learning (ML) based strategies to predict resources (costs) required for massively parallel chemistry computations, such as coupled-cluster methods, to guide application users before they commit to running expensive experiments on a supercomputer. By predicting application execution time, we determine the optimal runtime parameter values such as number of nodes and tile sizes. Two key questions of interest to users are addressed. The first is the shortest-time question, where the user is interested in knowing the parameter configurations (number of nodes and tile sizes) to achieve the shortest execution time for a given problem size and a target supercomputer. The second is the cheapest-run question in which the user is interested in minimizing resource usage, i.e., finding the number of nodes and tile size that minimizes the number of node-hours for a given problem size. We evaluate a rich family of ML models and strategies, developed based on the collections of runtime parameter values for the CCSD (Coupled Cluster with Singles and Doubles) application executed on the Department of Energy (DOE) Frontier and Aurora supercomputers. Our experiments show that when predicting the total execution time of a CCSD iteration, a Gradient Boosting (GB) ML model achieves a Mean Absolute Percentage Error (MAPE) of 0.023 and 0.073 for Aurora and Frontier, respectively. In the case where it is expensive to run experiments just to collect data points, we show that active learning can achieve a MAPE of about 0.2 with just around 450 experiments collected from Aurora and Frontier.
Bispectral OT: Dataset Comparison using Symmetry-Aware Optimal Transport
Venue: arXiv cs.LG 2025
Year: 2025

Optimal transport (OT) is a widely used technique in machine learning, graphics, and vision that aligns two distributions or datasets using their relative geometry. In symmetry-rich settings, however, OT alignments based solely on pairwise geometric distances between raw features can ignore the intrinsic coherence structure of the data. We introduce Bispectral Optimal Transport, a symmetry-aware extension of discrete OT that compares elements using their representation using the bispectrum, a group Fourier invariant that preserves all signal structure while removing only the variation due to group actions. Empirically, we demonstrate that the transport plans computed with Bispectral OT achieve greater class preservation accuracy than naive feature OT on benchmark datasets transformed with visual symmetries, improving the quality of meaningful correspondences that capture the underlying semantic label structure in the dataset while removing nuisance variation not affecting class or content.
Enhancing Cross-View Geo-Localization Generalization via Global-Local Consistency and Geometric Equivariance
Venue: arXiv cs.CV 2025
Year: 2025

Cross-view geo-localization (CVGL) aims to match images of the same location captured from drastically different viewpoints. Despite recent progress, existing methods still face two key challenges: (1) achieving robustness under severe appearance variations induced by diverse UAV orientations and fields of view, which hinders cross-domain generalization, and (2) establishing reliable correspondences that capture both global scene-level semantics and fine-grained local details. In this paper, we propose EGS, a novel CVGL framework designed to enhance cross-domain generalization. Specifically, we introduce an E(2)-Steerable CNN encoder to extract stable and reliable features under rotation and viewpoint shifts. Furthermore, we construct a graph with a virtual super-node that connects to all local nodes, enabling global semantics to be aggregated and redistributed to local regions, thereby enforcing global-local consistency. Extensive experiments on the University-1652 and SUES-200 benchmarks demonstrate that EGS consistently achieves substantial performance gains and establishes a new state of the art in cross-domain CVGL.